CN107789059B - A kind of minimally invasive abdominal operation robot - Google Patents
A kind of minimally invasive abdominal operation robot Download PDFInfo
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- CN107789059B CN107789059B CN201710843816.4A CN201710843816A CN107789059B CN 107789059 B CN107789059 B CN 107789059B CN 201710843816 A CN201710843816 A CN 201710843816A CN 107789059 B CN107789059 B CN 107789059B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Abstract
The invention discloses a kind of minimally invasive abdominal operation robots, surgery mechanical case and drive system including pedestal and the side of being set on the base；The drive system includes X to translation driving device, Y-direction translation driving device and Z-direction lifting drive, X is to translation driving device for driving the Z-direction lifting drive, Y-direction translation driving device, surgery mechanical case to do reciprocating linear motion along the x axis together, Z-direction lifting drive is for driving the Y-direction translation driving device, surgery mechanical case to make reciprocal elevating movement along Z-direction together, and Y-direction driving device is for driving the surgery mechanical case to do reciprocating linear motion along the y axis.The present invention in terms of stability, safety and the feasibility on there is advantage outstanding, improve the quality of accuracy and the operation of surgical procedure.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of minimally invasive abdominal operation robots.
Background technique
A part that minimally invasive abdominal operation is performed the operation as modern medicine has been widely used for clinically, and the treatment mankind are each
Kind celiaca, but traditional abdominal operation needs the eye palmistry of doctor to combine, and performs the operation by the experience of doctor, performs the operation
It inevitably will appear in the process and tremble, cause wound area excessive, the slow situation of patient's post-operative recovery occurs, while prolonged station
Vertical operation, the fatigue operation of doctor can cause the deviation of surgical instrument precise degrees.
In recent years, quick hair has been obtained in terms of the research and development of Medical Robot, especially surgical operation robot
Exhibition.Surgical operation robot in terms of stability, safety and the feasibility on show advantage outstanding, operation can be increased
Accuracy, improve the quality of operation；In certain situation, the usage amount of the amount of bleeding and drug in operation can also be reduced, both may be used
Mitigate the pain of patient, and is conducive to postoperative quick recovery from illness.
CN103006329B discloses a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot and its operating mechanism, by machine
Tool arm and power section composition, the mechanical arm include a connection frame and identical two arms of structure, every arm
Comprising a linking arm and a tip manipulator, the tip arm end is equipped with cutter head, described two tip manipulators
It is removably mounted on two linking arm ends respectively, and two linking arms are separately mounted to the two of the connection frame
Side, the connection frame are detachably connected by connecting tube and the power section.The operating mechanism, which is mounted on one, has 4
In the robot of freedom degree.The freedom degree of above-mentioned micro-wound operation robot is less, not high for the execution precision of compound action, no
The automation and intelligence degree of relative ideal can be reached.
It can be seen that the existing technology needs further improvement and improves.
Summary of the invention
The present invention is in place of avoiding above-mentioned the shortcomings of the prior art, to provide a kind of minimally invasive abdominal operation robot,
Its action of each part is coordinated, and synchronism is good, aerial statue flexible adjustment.
The technical scheme adopted by the invention is as follows:
A kind of minimally invasive abdominal operation robot, surgery mechanical case and driving system including pedestal and the side of being set on the base
System；The drive system includes X to translation driving device, Y-direction translation driving device and Z-direction lifting drive, and X is to translation
Driving device is for driving the Z-direction lifting drive, Y-direction translation driving device, surgery mechanical case to make along the x axis together
Linear reciprocating motion, Z-direction lifting drive is for driving the Y-direction translation driving device, surgery mechanical case together along Z axis side
To reciprocal elevating movement is made, Y-direction driving device is for driving the surgery mechanical case to do reciprocating linear motion along the y axis；Institute
State that surgery mechanical case includes cabinet and the multiple groups operation device circumferentially uniformly distributed along cabinet, each operation device include two
The first motor that is disposed adjacent, a surgical arm, the transmission for the power of two neighboring first motor to be transferred to surgical arm
Mechanism, the surgical instrument that surgical arm bottom end is set, the swing component for assisting surgical arm to realize swinging and for nondominant hand
Art arm realizes the pivot assembly pivoted；The pivot assembly includes rotation axis and connection frame, one end of connection frame and the bottom of cabinet
Portion is connected, one end of rotation axis and other end rotation connection, the other end of rotation axis and one end of the swing component of connection frame
It is hinged, the other end of swing component is connected with the lower part of surgical arm, band of the surgical arm in transmission mechanism and adjacent two first motor
It is swung up and down under dynamic around the hinged place of swing component and rotation axis, surgical arm is under the drive of transmission mechanism and adjacent two first motor
It is pivoted around the junction of rotation axis and connection frame；Each transmission mechanism includes the first sliding block, two transmission shafts, two sets of connecting rods
Component and two sets of spherical pairs, the first sliding block are nested on the top of surgical arm, and are provided with straight line between the first sliding block and surgical arm
Bearing, the first sliding block can along surgical arm slide or rotate, two transmission shafts respectively with two first motors of same operation device
Be connected, two sets link assemblies are connected with two transmission shafts and two sets of spherical pairs respectively, each link assembly include first connecting rod with
Second connecting rod, one end of first connecting rod and one end of transmission shaft rotation connection, the other end of first connecting rod and second connecting rod are mutually cut with scissors
It connects, the other end of second connecting rod is connected with spherical pair, and two sets of spherical pairs are separately positioned on the two sides of the first sliding block and slide with first
Block is connected；When two first motor revolving speeds in same operation device are consistent and turn to opposite, surgical arm is around swing component and turns
The hinged place of moving axis is swung up and down；When two first motor revolving speeds in same operation device have difference and turn to consistent, operation
Arm is pivoted around the junction of rotation axis and connection frame.
The cabinet includes upper positioning disk, lower positioning disk and the cavity being arranged between upper and lower positioning disk, and described first
Connecting rod and second connecting rod are respectively positioned on the top of positioning disk, and each first motor is mounted on cavity lateral wall, each first motor
Output shaft is connected with the transmission shaft, and transmission shaft is rotatablely connected after passing through upper positioning disk with the first connecting rod；The lower positioning
It is provided with boss on the bottom face of disk, in cross, the connection frame is connected with boss for the section of boss.
The X is to the first linkage rack and band that translation driving device includes for installing the Z-direction lifting drive
It moves first linkage rack and makees the X of straight reciprocating motion along the x axis to translational drive mechanism.
The X includes that the second motor, gear and rack gear compatible with gear, rack gear are fixed on bottom to translational drive mechanism
It is laid on the top end face of seat and along the x axis, gear is connected with the output shaft of the second motor, and the first linkage rack includes being sequentially connected
Motor mounting plate, horizontal fagging and vertical fagging, the Z-direction lifting drive is mounted on vertical fagging, the second motor
It is mounted on motor mounting plate, the second motor-driven gear is rotated and moved along the x axis under the action of rack gear, to pass through
Horizontal fagging, vertical fagging drive Z-direction lifting drive synchronizing moving along the x axis.
The robot further includes X to guiding mechanism, and X includes the horizontal guide rail being arranged along the x axis, leads to guiding mechanism
Mounting plate to sliding block and for installing the horizontal guide rail, mounting plate setting is in pedestal top side and mounting plate is along vertical side
To setting, horizontal guide rail and mounting plate are connected, and the back side of first linkage rack is arranged in guide runner, and opens on guide runner
Equipped with guide chute compatible with the horizontal guide rail.
The Z-direction lifting drive includes the second linkage rack and band for installing the Y-direction translation driving device
Move the Z-direction lift drive mechanism that second linkage rack is gone up and down along Z-direction.
The Z-direction lift drive mechanism includes third motor and by the motor-driven first ball screw pair of third, and first
Ball screw assembly, includes the first lead screw and the first feed screw nut being mutually adapted, and the first feed screw nut is mounted on the second linkage rack
On, the first lead screw is arranged along Z-direction, and the first lead screw is connected with the output shaft of third motor, and the first lead screw is across described the
One feed screw nut, third motor drive second linkage rack to move up and down by the first lead screw, the first feed screw nut；It is described
Z-direction lifting drive further includes Z-direction guiding mechanism, and Z-direction guiding mechanism includes vertical guide rod, and vertical guide rod is mounted on
On one linkage rack and vertical guide rod is located at the side of the first lead screw, and one end of the second linkage rack is nested on vertical guide rod,
During elevating movement, vertically guide rod slides the second linkage rack up and down.
The Y-direction translation driving device includes linkage block and Y-direction translational drive mechanism, the bottom end of linkage block and the cabinet
It is connected, the Y-direction translational drive mechanism is for driving linkage block to do reciprocating linear motion along the y axis.
The Y-direction translational drive mechanism includes the 4th motor and by the 4th motor-driven second ball screw assembly, and the 4th
Motor is arranged on the second linkage rack, and the second ball screw assembly, includes compatible second lead screw and the second feed screw nut, and second
Feed screw nut is mounted in linkage block, and the second lead screw is arranged along the y axis, and the second lead screw is connected with the output shaft of the 4th motor,
And second lead screw pass through second feed screw nut, the 4th motor drives the linkage by the second lead screw, the second feed screw nut
Block does reciprocating linear motion along the y axis；The Y-direction translation driving device further includes Y-direction guiding mechanism, Y-direction guiding mechanism packet
Y-direction guide rod is included, Y-direction guide rod is mounted on the second linkage rack and Y-direction guide rod is located at the side of the second lead screw, linkage block set
It sets on Y-direction guide rod, linkage block does reciprocating linear motion along Y-direction guide rod.
The robot further includes walking mechanism, and walking mechanism includes multiple traveling wheels that pedestal lower part is arranged in.
By adopting the above-described technical solution, obtained by the present invention have the beneficial effect that
1, overall structure of the present invention is simple, and compact layout is reasonable, and space is big, coordination between each moving component
Good, manipulation is flexibly, stable and without accumulated error, in particular, the precision that execution is respectively acted in its operation process is high, sensitivity
It is good with harmony, the efficiency and quality of abdominal operation can be improved significantly using the present invention.
2, the present invention in terms of stability, safety and the feasibility on there is advantage outstanding, improve operation behaviour
The accuracy of work improves the quality of operation.Hand can be reduced in any case using the operation that the present invention carries out abdominal operation
The usage amount of amount of bleeding and drug in art, not only can reduce the pain of patient, but also be conducive to postoperative quick recovery from illness.
Detailed description of the invention
Fig. 1 is the axonometric drawing of robot in the present invention.
Fig. 2 is the axonometric drawing that surgery mechanical case removes surgical instrument in the present invention.
Fig. 3 is the side view of robot in the present invention.
Fig. 4 is the main view of robot in the present invention.
Fig. 5 is the top view of robot in the present invention.
Wherein,
1, pedestal 2, rack gear 3, gear 4, the second motor 5, motor mounting plate 6, horizontal fagging 7, vertical fagging 8,
Mounting plate 9, horizontal guide rail 10, guide runner 11, third motor 12, the first lead screw 13, vertical guide rod 14, second
Moving frame 15, the 4th motor 16, linkage block 17, upper positioning disk 18, lower positioning disk 19, cavity 20, boss 21, surgical arm
22, swing component 23, rotation axis 24, connection frame 25, the first sliding block 26, spherical pair 27, second connecting rod 28, first connecting rod
29, transmission shaft 30, first motor 31, the second lead screw 32, Y-direction guide rod 33, traveling wheel
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing, but the present invention is not limited to
These embodiments.
For convenience of description, the length direction of the pedestal is defined as X-direction, the short transverse of pedestal is defined as Z
The direction definition orthogonal with the plane of formation joined together by X-axis, Z axis is Y direction by axis direction.
As shown in Figures 1 to 5, a kind of minimally invasive abdominal operation robot, including pedestal 1 and the hand being arranged in above pedestal 1
Art mechanical box and drive system.The drive system includes that X is gone up and down to translation driving device, Y-direction translation driving device and Z-direction
Driving device.
The surgery mechanical case includes cabinet and the three group operation devices circumferentially uniformly distributed along cabinet.Each operation device
It include two first motors being disposed adjacent, 30, surgical arms 21, for passing the power of two neighboring first motor 30
It is handed to the transmission mechanism of surgical arm 21, the surgical instrument that 21 bottom end of surgical arm is set, swung for assisting surgical arm 21 to realize
Swing component 22 and for assist surgical arm 21 realize pivot pivot assembly.
Specifically: the cabinet includes upper positioning disk 17, lower positioning disk 18 and is arranged between upper and lower positioning disk
Cavity 19.Boss 20 is provided on the bottom face of the lower positioning disk 18, the section of boss 20 is in cross.The cavity 19
Center offer the notch for installing following linkage blocks 16.Each first motor 30 is mounted on 19 lateral wall of cavity and along chamber
19 lateral wall of body is uniformly distributed.
The pivot assembly includes rotation axis 23 and connection frame 24.One end of each connection frame 24 is separately connected the boss 20
Three ends, and between each connection frame 24 and boss 20 be detachable connection.One end of the rotation axis 23 and connection frame
24 other end rotation connection, one end of the other end and the swing component 22 are hinged.The other end and hand of the swing component 22
The lower part of art arm 21 is connected.
Each transmission mechanism includes 29, two sets of the transmission shaft link assembly of the first sliding block 25, two and two sets of spherical pairs
26.First sliding block 25 is nested on the top of surgical arm 21, and is provided with linear axis between the first sliding block 25 and surgical arm 21
It holds, to make the first sliding block 25 that can not only slide along surgical arm 21, but also can be rotated along surgical arm 21.
Two transmission shafts 29 belonged in same operation device are connected with the output shaft of two first motors 30 respectively, and by
The corresponding driving of first motor 30 rotation connects because transmission shaft 29 needs guiding through to rotate with following first connecting rods 28 after upper positioning disk 17
It connects, therefore, rolling bearing is provided between transmission shaft 29 and upper positioning disk 17, be transition between each rolling bearing and transmission shaft 29
Cooperation.
The two sets of link assemblies belonged in same operation device are connected with two transmission shafts 29 and two sets of spherical pairs 26 respectively.
Specifically, each link assembly includes first connecting rod 28 and second connecting rod 27, and the first connecting rod 28 and second connecting rod 27 are equal
Positioned at the top of upper positioning disk 17.One end of first connecting rod 28 and the rotation connection of transmission shaft 29, the other end and second connecting rod 27
One end is hinged, and the other end of second connecting rod 27 is connected with spherical pair 26, and two sets of spherical pairs 26 are separately positioned on the first sliding block 25
Two sides and be connected with the first sliding block 25.
When two 30 revolving speeds of first motor in same operation device are consistent and turn to opposite, each surgical arm 21 is corresponding
First motor 30 and transmission mechanism drive under swung up and down around the hinged place of swing component 22 and rotation axis 23.
When two 30 revolving speeds of first motor in same operation device have difference and turn to consistent, each surgical arm 21 is corresponding
First motor 30 and transmission mechanism drive under around the junction of rotation axis 23 and connection frame 24 pivot.
The X is to translation driving device for driving the Z-direction lifting drive, Y-direction translation driving device, surgical engine
Tool case does reciprocating linear motion along the x axis together.The X includes driving for installing the Z-direction lifting to translation driving device
First linkage rack of dynamic device and first linkage rack is driven to make the X of straight reciprocating motion along the x axis to driven in translation
Mechanism.
Specifically: the X includes the second motor 4, gear 3 and tooth compatible with gear 3 to translational drive mechanism
Item 2, rack gear 2 are fixed on the top end face of pedestal 1 and are laid with along the x axis, and gear 3 is connected with the output shaft of the second motor 4.The
One linkage rack includes the motor mounting plate 5 being sequentially connected, horizontal fagging 6 and vertical fagging 7, the Z-direction lifting drive peace
On vertical fagging 7, the second motor 4 is mounted on motor mounting plate 5, and the second motor 4 drives the rotation of gear 3 and in rack gear 2
Under the action of move along the x axis, thus by horizontal fagging 6, vertical fagging 7 drive Z-direction lifting drive along the x axis
Synchronizing moving.
It should be noted that the X to translational drive mechanism be not limited only to second motor 4 and gear 3,
The structure type that rack gear 2 matches can also use other structures combination, for example, directly driving using hydraulic cylinder or cylinder
Move horizontal fagging 6, the combination for translating it along the x axis, for another example, using motor+ball screw assembly, fit system,
For another example, by the way of driving horizontal fagging 6 to translate along the x axis by miniature linear, institute is driven as long as can satisfy
The first linkage rack is stated to translate along the x axis.
The robot further includes X to guiding mechanism, X to guiding mechanism include the horizontal guide rail 9 being arranged along the x axis,
Guide runner 10 and mounting plate 8 for installing the horizontal guide rail 9.Mounting plate 8 is arranged in 1 top side of pedestal and mounting plate
8 are arranged along the vertical direction, and horizontal guide rail 9 and mounting plate 8 are connected, and the back side of the vertical fagging 7 is arranged in guide runner 10, leads
To being detachable connection between sliding block 10 and vertical fagging 7, offers on guide runner 10 and be adapted with the horizontal guide rail 9
Guide chute.Setting of the X to guiding mechanism ensure that X can smoothly drive the Z-direction lifting driving to translation driving device
Device, Y-direction translation driving device, surgery mechanical case do reciprocating linear motion along the x axis together.
The Z-direction lifting drive is for driving the Y-direction translation driving device, surgery mechanical case together along Z axis side
To making reciprocal elevating movement.The Z-direction lifting drive includes the second linkage for installing the Y-direction translation driving device
Frame 14 and the Z-direction lift drive mechanism for driving second linkage rack 14 to go up and down along Z-direction.
Specifically, the Z-direction lift drive mechanism include third motor 11 and driven by third motor 11 first
Ball screw assembly, first ball screw pair include the first lead screw 12 and the first feed screw nut being mutually adapted, the first feed screw nut
It is mounted on the second linkage rack 14, the first lead screw 12 is arranged along Z-direction, the output shaft phase of the first lead screw 12 and third motor 11
Even, and the first lead screw 12 passes through first feed screw nut, and third motor 11 is driven by the first lead screw 12, the first feed screw nut
Second linkage rack 14 moves up and down.
It should be noted that the Z-direction lift drive mechanism is not limited only to the third motor 11 and first
The structure type that ball screw assembly, matches can also use other structures combination, for example, straight using hydraulic cylinder or cylinder
The second linkage rack 14 of driving is connect, drives it for another example using by miniature linear along the combination of Z-direction lifting
The mode that second linkage rack 14 is gone up and down along Z-direction drives second linkage rack to go up and down i.e. along Z-direction as long as can satisfy
It can.
The Z-direction lifting drive further includes Z-direction guiding mechanism, and Z-direction guiding mechanism includes two vertical guide rods 13,
Two vertical guide rods 13 are separately mounted on vertical fagging 7, and two vertical guide rods 13 are located at the first lead screw 12
Two sides, one end of the second linkage rack 14 is nested on vertical guide rod 13, during elevating movement, 14 edge of the second linkage rack
Vertical about 13 guide rod slides.
The Y-direction driving device is for driving the surgery mechanical case to do reciprocating linear motion along the y axis.The Y-direction
Translation driving device includes linkage block 16 and Y-direction translational drive mechanism, and the bottom end of linkage block 16 is mounted on the slot of the cavity 19
At mouthful, the Y-direction translational drive mechanism is for driving linkage block 16 to do reciprocating linear motion along the y axis.
Specifically, the Y-direction translational drive mechanism include the 4th motor 15 and driven by the 4th motor 15 second
Ball screw assembly, the 4th motor 15 are arranged on the second linkage rack 14, and the second ball screw assembly, includes compatible second lead screw
31 and second feed screw nut, the second feed screw nut be mounted in linkage block 16, the second lead screw 31 is arranged along the y axis, second
Thick stick 31 is connected with the output shaft of the 4th motor 15, and the second lead screw 31 passes through second feed screw nut, and the 4th motor 15 passes through
Second lead screw 31, the second feed screw nut drive the linkage block 16 to do reciprocating linear motion along the y axis.
It should be noted that the Y-direction translational drive mechanism is not limited only to the 4th motor 15 and second
The structure type that ball screw assembly, matches can also use other structures combination, for example, straight using hydraulic cylinder or cylinder
Driving linkage block 16 is connect, the combination for translating it along the y axis for another example links using being driven by miniature linear
The mode that block 16 translates along the y axis drives the linkage block to go up and down along the y axis as long as can satisfy.
The Y-direction translation driving device further includes Y-direction guiding mechanism, and Y-direction guiding mechanism includes two Y-direction guide rods 32,
Two Y-direction guide rods 32 are separately mounted on the second linkage rack 14, and two Y-direction guide rods 32 are located at the second lead screw 31
Two sides, linkage block 16 are nested on Y-direction guide rod 32, and linkage block 16 does reciprocating linear motion along Y-direction guide rod.
It should be noted that first, second, third, fourth motor is servo motor, and each motor is that band subtracts
The integral structure of fast machine, in addition, the first, second, third, fourth motor and corresponding actuator (such as tooth of transmission shaft, gear
Wheel shaft, the first lead screw, the second lead screw) between be provided with shaft coupling.First, second, third, fourth motor is by calculating
Machine control system control, computer system utilize 3-D image airmanship, control motion profile, positioning and the sky of surgical arm
The adjusting of middle posture.
X in the present invention has an operation to translation driving device, Y-direction translation driving device and Z-direction lifting drive band
The mobile composition three degree of freedom of arm 21, the pivot of surgery mechanical case swing composition three degree of freedom again, therefore, in the present invention
Robot share six-freedom degree, can satisfy the needs of the high-precision execution of various compound actions.
For convenience of the overall movement of robot, the robot further includes walking mechanism, and walking mechanism includes being arranged the bottom of at
Four traveling wheels 33 of 1 lower part of seat.
The part that do not address in the present invention uses or uses for reference prior art and can be realized.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, term " first ", " second ", " third ", " the 4th " are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
Specific embodiment described herein is only to spiritual example explanation of the invention.Belonging to the present invention
Those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitutes, and however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of minimally invasive abdominal operation robot, which is characterized in that
Surgery mechanical case and drive system including pedestal and the side of being set on the base；
The drive system includes X to translation driving device, Y-direction translation driving device and Z-direction lifting drive, and X is to flat
Driving device is moved for driving the Z-direction lifting drive, Y-direction translation driving device, surgery mechanical case together along the x axis
It does reciprocating linear motion, Z-direction lifting drive is for driving the Y-direction translation driving device, surgery mechanical case together along Z axis
Reciprocal elevating movement is made in direction, and Y-direction driving device is for driving the surgery mechanical case to do reciprocating linear motion along the y axis；
The surgery mechanical case includes that cabinet and the multiple groups operation device circumferentially uniformly distributed along cabinet, each operation device wrap
Include two first motors being disposed adjacent, a surgical arm, for the power of two neighboring first motor to be transferred to surgical arm
Transmission mechanism, surgical arm bottom end is set surgical instrument, for assist surgical arm realize swing swing component and be used for
Surgical arm is assisted to realize the pivot assembly pivoted；
The pivot assembly includes rotation axis and connection frame, and one end of connection frame is connected with the bottom of cabinet, one end of rotation axis
Be hinged with one end of the rotation connection of the other end of connection frame, the other end and the swing component of rotation axis, swing component it is another
End is connected with the lower part of surgical arm, and surgical arm is under the drive of transmission mechanism and adjacent two first motor around swing component and rotation axis
Hinged place swing up and down, surgical arm is under the drive of transmission mechanism and adjacent two first motor around the company of rotation axis and connection frame
Place is met to pivot；
Each transmission mechanism includes the first sliding block, two transmission shafts, two sets of link assemblies and two sets of spherical pairs, the first sliding block
It is nested on the top of surgical arm, and is provided with linear bearing between the first sliding block and surgical arm, the first sliding block can be sliding along surgical arm
Dynamic or rotation, two transmission shafts are connected with two first motors of same operation device respectively, and two sets of link assemblies are respectively with two
Root transmission shaft and two sets of spherical pairs are connected, and each link assembly includes first connecting rod and second connecting rod, one end of first connecting rod with
One end of transmission shaft rotation connection, the other end of first connecting rod and second connecting rod is hinged, the other end and spherical surface of second connecting rod
Pair is connected, and two sets of spherical pairs are separately positioned on the two sides of the first sliding block and are connected with the first sliding block；
When two first motor revolving speeds in same operation device are consistent and turn to opposite, surgical arm is around swing component and rotation axis
Hinged place swing up and down；When two first motor revolving speeds in same operation device have difference and turn to it is consistent when, surgical arm around
The junction of rotation axis and connection frame pivots.
2. a kind of minimally invasive abdominal operation robot according to claim 1, which is characterized in that
The cabinet includes upper positioning disk, lower positioning disk and the cavity being arranged between upper and lower positioning disk, the first connecting rod
The top of upper positioning disk is respectively positioned on second connecting rod, each first motor is mounted on cavity lateral wall, the output of each first motor
Axis is connected with the transmission shaft, and transmission shaft is rotatablely connected after passing through upper positioning disk with the first connecting rod；
It is provided with boss on the bottom face of the lower positioning disk, in cross, the connection frame is connected with boss for the section of boss.
3. a kind of minimally invasive abdominal operation robot according to claim 1, which is characterized in that
The X includes the first linkage rack for installing the Z-direction lifting drive to translation driving device and drives institute
It states the first linkage rack and makees the X of straight reciprocating motion along the x axis to translational drive mechanism.
4. a kind of minimally invasive abdominal operation robot according to claim 3, which is characterized in that
The X includes that the second motor, gear and rack gear compatible with gear, rack gear are fixed on pedestal to translational drive mechanism
It is laid on top end face and along the x axis, gear is connected with the output shaft of the second motor, and the first linkage rack includes the electricity being sequentially connected
Machine mounting plate, horizontal fagging and vertical fagging, the Z-direction lifting drive are mounted on vertical fagging, the installation of the second motor
On motor mounting plate, the second motor-driven gear is rotated and is moved along the x axis under the action of rack gear, to pass through level
Fagging, vertical fagging drive Z-direction lifting drive synchronizing moving along the x axis.
5. a kind of minimally invasive abdominal operation robot according to claim 3, which is characterized in that
The robot further includes X to guiding mechanism, and X includes the horizontal guide rail being arranged along the x axis, is oriented to and slides to guiding mechanism
Block and mounting plate for installing the horizontal guide rail, mounting plate setting is in pedestal top side and mounting plate is set along the vertical direction
It sets, horizontal guide rail and mounting plate are connected, and the back side of first linkage rack is arranged in guide runner, and offers on guide runner
Guide chute compatible with the horizontal guide rail.
6. a kind of minimally invasive abdominal operation robot according to claim 3, which is characterized in that
The Z-direction lifting drive includes the second linkage rack and drive institute for installing the Y-direction translation driving device
State the Z-direction lift drive mechanism that the second linkage rack is gone up and down along Z-direction.
7. a kind of minimally invasive abdominal operation robot according to claim 6, which is characterized in that
The Z-direction lift drive mechanism includes third motor and by the motor-driven first ball screw pair of third, the first ball
Lead screw pair includes the first lead screw and the first feed screw nut being mutually adapted, and the first feed screw nut is mounted on the second linkage rack, the
One lead screw is arranged along Z-direction, and the first lead screw is connected with the output shaft of third motor, and the first lead screw passes through first lead screw
Nut, third motor drive second linkage rack to move up and down by the first lead screw, the first feed screw nut；
The Z-direction lifting drive further includes Z-direction guiding mechanism, and Z-direction guiding mechanism includes vertical guide rod, vertical guide rod
It is mounted on the first linkage rack and vertical guide rod is located at the side of the first lead screw, one end of the second linkage rack, which is nested with, is vertically leading
To on bar, during elevating movement, vertically guide rod slides the second linkage rack up and down.
8. a kind of minimally invasive abdominal operation robot according to claim 6, which is characterized in that
The Y-direction translation driving device includes linkage block and Y-direction translational drive mechanism, the bottom end of linkage block and the cabinet phase
Even, the Y-direction translational drive mechanism is for driving linkage block to do reciprocating linear motion along the y axis.
9. a kind of minimally invasive abdominal operation robot according to claim 8, which is characterized in that
The Y-direction translational drive mechanism is including the 4th motor and by the 4th motor-driven second ball screw assembly, the 4th motor
It is arranged on the second linkage rack, the second ball screw assembly, includes compatible second lead screw and the second feed screw nut, the second lead screw
Nut is mounted in linkage block, and the second lead screw is arranged along the y axis, and the second lead screw is connected with the output shaft of the 4th motor, and the
Two lead screws pass through second feed screw nut, and the 4th motor drives the linkage block along Y by the second lead screw, the second feed screw nut
Axis direction does reciprocating linear motion；
The Y-direction translation driving device further includes Y-direction guiding mechanism, and Y-direction guiding mechanism includes Y-direction guide rod, Y-direction guide rod peace
On the second linkage rack and Y-direction guide rod is located at the side of the second lead screw, and linkage block is nested on Y-direction guide rod, linkage block
It does reciprocating linear motion along Y-direction guide rod.
10. a kind of minimally invasive abdominal operation robot according to claim 1, which is characterized in that
The robot further includes walking mechanism, and walking mechanism includes multiple traveling wheels that pedestal lower part is arranged in.
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